KR910002565A - Robot Control Method - Google Patents

Robot Control Method Download PDF

Info

Publication number
KR910002565A
KR910002565A KR1019900010495A KR900010495A KR910002565A KR 910002565 A KR910002565 A KR 910002565A KR 1019900010495 A KR1019900010495 A KR 1019900010495A KR 900010495 A KR900010495 A KR 900010495A KR 910002565 A KR910002565 A KR 910002565A
Authority
KR
South Korea
Prior art keywords
phase
control method
robot control
motor
speed
Prior art date
Application number
KR1019900010495A
Other languages
Korean (ko)
Inventor
켄지 소가와
Original Assignee
다니이 아끼오
마쯔시다덴기산교 가부시기가이샤
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 다니이 아끼오, 마쯔시다덴기산교 가부시기가이샤 filed Critical 다니이 아끼오
Publication of KR910002565A publication Critical patent/KR910002565A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/232—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only

Abstract

내용 없음No content

Description

로보트 제어방법Robot Control Method

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본발명의 제1실시예의 있어서의 로보트 제어방법의 제어블록도,1 is a control block diagram of a robot control method according to the first embodiment of the present invention;

제2도는 본발명의 제2실시예에 있어서의 로보트 제어방법의 제어블록도.2 is a control block diagram of a robot control method according to a second embodiment of the present invention.

Claims (2)

아암을 직접 구동하는 모우터와, 모우터의 가동부의 위치와 속도를 검출하는 부호기와, 모우터의 속도를 제어하는 모우터 드라이버를 사용하여 위치편차가 작은범위는 위치편차를 크게 한 값을 DA변환하고, DA변환후의 에널로그계인을 작게하여 속도지령으로 하고, 위치편차가 큰범위는 위치편차를 작게한 값을 DA변환하고 DA변환후의 에널로그계인을 크게하여 속도지령을 생성하는 것을 특징으로 하는 로보트 제어방법.The range where the position deviation is small is increased by using a motor that directly drives the arm, an encoder that detects the position and speed of the motor moving part, and a motor driver that controls the motor speed. After converting, reduce the analogue signal after DA conversion to make the speed command, and the range where the positional deviation is large is DA converted to the value where the positional deviation is small, and generate the speed command by increasing the analogue signal after DA conversion. Robot control method. 제1항에 있어서, 부호기출력을 서로 90°위상차가 있는 A상 및 B상의 사인파로 하고 위치편차가 작은 범위에서는 A상+B상, -A상+B상, A상-B상, -A상-B상을 각각 A상과 B상의 상태에 따라서 절환한 에널로그연산 결과를 속도지령에 가산하는 것을 특징으로 하는 로보트 제어방법.A phase + B phase, -A phase + B phase, A phase-B phase, and -A in the ranges of the encoder outputs are A and B phase sine waves having a 90 ° phase difference from each other. A robot control method comprising adding a result of an analog operation in which phase-B phases are switched according to states of phases A and B, respectively, to a speed command. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019900010495A 1989-07-11 1990-07-11 Robot Control Method KR910002565A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1179559A JPH0343808A (en) 1989-07-11 1989-07-11 Robot control method
JP1-179559 1989-07-11

Publications (1)

Publication Number Publication Date
KR910002565A true KR910002565A (en) 1991-02-25

Family

ID=16067855

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900010495A KR910002565A (en) 1989-07-11 1990-07-11 Robot Control Method

Country Status (3)

Country Link
US (1) US5089758A (en)
JP (1) JPH0343808A (en)
KR (1) KR910002565A (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5235262A (en) * 1991-02-01 1993-08-10 K.K. Sankyo Seiki Seisakusho Motor control apparatus for controlling the position of a motor-driven object
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
JP2639400B2 (en) * 1994-05-31 1997-08-13 大成プレハブ株式会社 Iron plate support
US6002232A (en) 1997-08-15 1999-12-14 Iowa State University Research Foundation, Inc. Robust vibration suppression methods and systems
US8000837B2 (en) * 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
JP5609214B2 (en) * 2010-04-02 2014-10-22 セイコーエプソン株式会社 Projector and control method thereof
CN108638056A (en) * 2018-04-13 2018-10-12 华南理工大学 Joint of robot vibration analysis based on kinetics of deformable bodies model and suppressing method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4533991A (en) * 1982-12-29 1985-08-06 Storage Technology Corporation Adaptive feedforward servo system
JPS59231615A (en) * 1983-06-13 1984-12-26 Fanuc Ltd Controlling method of position loop gain
JPS61147302A (en) * 1984-12-20 1986-07-05 Fujitsu Ltd Digital servocontrol system
JPS621013A (en) * 1985-06-26 1987-01-07 Mitsubishi Electric Corp Positioning controller for rotor
JPH0716854B2 (en) * 1986-11-07 1995-03-01 豊田工機株式会社 Numerically controlled feeder

Also Published As

Publication number Publication date
JPH0343808A (en) 1991-02-25
US5089758A (en) 1992-02-18

Similar Documents

Publication Publication Date Title
KR870006953A (en) Spindle positioning device
KR920015687A (en) Speed Control Method of Synchronous AC Servo Motor
KR910002565A (en) Robot Control Method
KR830008227A (en) Numerical Control Method
KR870004352A (en) Position controller
KR890702328A (en) Servo motor control method
KR930009218A (en) Phase current command value generator and generation method of AC servo motor
GB1438068A (en) Servomechanism
KR920005450A (en) Compensation method of current phase delay of motor
SU969109A1 (en) Digital control servo system
KR910010266A (en) Robot torque control method
KR900700950A (en) Servo motor control method
SU1414624A1 (en) Apparatus for controlling assembly robot
RU2218487C2 (en) Method to control rotation of drive shaft of pneumatic or hydraulic servo drive and such drive
SU1474585A1 (en) Robot electric drive control system
SU862154A1 (en) Device for information recording
SU1417162A1 (en) Device for controlling stepping motor with step splitting
JPH0614292B2 (en) Control devices for industrial robots, etc.
SU1522152A1 (en) Analog-digital follow-up system
JPS54114685A (en) Program controller
SU1476430A2 (en) Power servodrive
KR970072636A (en) DC current (DC) motor drive unit
JPH0431603Y2 (en)
KR860001694A (en) Homing method of axis in robot controller
JPH01181108A (en) Digital servo device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
WITB Written withdrawal of application